For IEEE Robotics
Dependencies: Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
Diff: main.cpp
- Revision:
- 7:8fb4204f9600
- Parent:
- 6:75259c3306dd
- Child:
- 8:77a57909aa15
diff -r 75259c3306dd -r 8fb4204f9600 main.cpp --- a/main.cpp Wed Mar 19 17:05:35 2014 +0000 +++ b/main.cpp Wed Mar 19 17:08:25 2014 +0000 @@ -160,10 +160,18 @@ servoPosition(posNum); } - + /******************************** + MAIN WHILE LOOP FOR COMPETITION + *********************************/ while(1) { switch (state) { - + + /************************************************** + * STAGE 0 + * + * - START OF THE COMETITION + * + **************************************************/ case START : myled1 = 1; wait(5); @@ -308,7 +316,7 @@ //******* TODO ********// //*********************// // CODE TO NAVIGATE ROW3 - + //goes to appropriate rig if(shape_detected == 1) { state = NAVIGATE_TO_SQUARE_RIG; @@ -345,12 +353,12 @@ * **************************************************/ case RIG_ALIGN: - + //*********************// //******* TODO ********// //*********************// // CODE TO ALIGN ROBOT WITH RIG - + servoPosition(ORIENT_TOOL); wait(1); //wait for servos to settle state = INSERT_TOOL; @@ -364,7 +372,7 @@ * - win contest * **************************************************/ - + case INSERT_TOOL: //*********************// //******* TODO ********//